Design and characterization of a novel hybrid actuator using shape memory alloy and DC motor for minimally invasive surgery applications

Abstract

Recent developments in the field of robotics, smart materials, micro actuators and mechatronics have opened a new frontier for innovation and development in millimeter scale actuators for use in medical robotics. In this paper a novel design idea for developing a millimeter scale actuator is presented for actuating the end effector of a robot performing minimally invasive surgery (MIS). This actuator is designed by combining D.C motor and shape memory alloy (SMA) actuator in series. The designed actuator is 5mm in diameter and 40mm in length and is used to actuate 10mm long needle driver jaws, while generating a force of 15N and a gripping force of 5.5N. Index TermsMedical robotics, millimeter scale actuators, minimally invasive surgery, shape memory alloy actuator.

Fast plane extraction in 3D range data based on line segments

“…1) Needle deflection: The SMA wire can be described [34], [35] as a spring for which displacement depends on the force generated by the phase transition in the material and the stiffness of the surrounding elements connected to the wire. The deflection is therefore evaluated in 3 steps.…”

Feasibility study of an optically actuated MR-compatible active needle

“…Using the wire description introduced in [34] and the manufacturer’s specifications, the action of the wire on the SMA tube can thus be modeled as a 10 N force. The simulated needle deflection is represented in Fig.…”

Feasibility study of an optically actuated MR-compatible active needle

“…The SMA wire can be described [34], [35] as a spring for which displacement depends on the force generated by the phase transition in the material and the stiffness of the surrounding elements connected to the wire. The deflection is therefore evaluated in 3 steps.…”

“…The axial wire stiffness is 29 N/mm, and the stiffness of the tube is estimated using FEA equal to 43 N/mm. Using the wire description introduced in [34] and the manufacturer's specifications, the action of the wire on the SMA tube can thus be modeled as a 10 N force. The simulated needle deflection is represented in Fig.…”